AutonomousCommand.java 文件源码

public AutonomousCommand() {
    setTimeout(15);

    // Calibrates the shooter by moving it all the way down
    addSequential(new AutonomousCalibrate());

    // Sets the angle to Autonomous, so it can shoot
    addSequential(new AutonomousSetAngle());

    // Speeds up the shooter motors
    addParallel(new AutonomousSpeedUp()); // Initially spins up shooter motors
    // Waits for the motors to spin up or it to "timeout", and
    // waits for the angle to get to the setpoint
    addSequential(new WaitOrShoot(5));
    // Waits an extra second for good measure
    addSequential(new WaitCommand(1));

    // Shoots the frisbees
    addSequential(new AutonomousShootFrisbees(0.2, 1));

    // Spins down the motors
    addSequential(new AutonomousSpeedDown());

    // Do a dance
    addSequential(new AutonomousDance());
}